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<div class="title">fast_bilateral_omp.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Copyright (c) 2004, Sylvain Paris and Francois Sillion</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: fast_bilateral_omp.h 8379 2013-01-02 23:12:21Z sdmiller $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_FAST_BILATERAL_OMP_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_FILTERS_FAST_BILATERAL_OMP_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/fast_bilateral.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html">   59</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html">FastBilateralFilterOMP</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter.html">FastBilateralFilter</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter.html">FastBilateralFilter&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter.html">FastBilateralFilter&lt;PointT&gt;::sigma_s_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter.html">FastBilateralFilter&lt;PointT&gt;::sigma_r_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter.html">FastBilateralFilter&lt;PointT&gt;::early_division_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter_1_1_array3_d.html">FastBilateralFilter&lt;PointT&gt;::Array3D</a> <a class="code" href="classpcl_1_1_fast_bilateral_filter_1_1_array3_d.html">Array3D</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; FastBilateralFilterOMP&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const FastBilateralFilterOMP&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a8fa91f12dd5d148e4f151e2489ef8f08">   76</a></span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a8fa91f12dd5d148e4f151e2489ef8f08">FastBilateralFilterOMP</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        : <a class="code" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a065c56d5f0048284ad18ec50bf3a8cbd">threads_</a> (nr_threads)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      { }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a5404c2f3e1a63260869f25e24ef7abfb">   84</a></span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a5404c2f3e1a63260869f25e24ef7abfb">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a065c56d5f0048284ad18ec50bf3a8cbd">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a6da5953e7b84be65c2bac020e3e74bc8">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a065c56d5f0048284ad18ec50bf3a8cbd">   94</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a065c56d5f0048284ad18ec50bf3a8cbd">threads_</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  };</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/fast_bilateral_omp.hpp&gt;</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_FastBilateralFilterOMP(T) template class PCL_EXPORTS pcl::FastBilateralFilterOMP&lt;T&gt;;</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_FILTERS_FAST_BILATERAL_OMP_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_1_1_array3_d_html"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter_1_1_array3_d.html">pcl::FastBilateralFilter::Array3D</a></div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html">pcl::FastBilateralFilter</a></div><div class="ttdoc">Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_o_m_p_html"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter_o_m_p.html">pcl::FastBilateralFilterOMP</a></div><div class="ttdoc">Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...</div><div class="ttdef"><b>Definition:</b> fast_bilateral_omp.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_o_m_p_html_a065c56d5f0048284ad18ec50bf3a8cbd"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a065c56d5f0048284ad18ec50bf3a8cbd">pcl::FastBilateralFilterOMP::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads the scheduler should use.</div><div class="ttdef"><b>Definition:</b> fast_bilateral_omp.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_o_m_p_html_a5404c2f3e1a63260869f25e24ef7abfb"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a5404c2f3e1a63260869f25e24ef7abfb">pcl::FastBilateralFilterOMP::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> fast_bilateral_omp.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_o_m_p_html_a6da5953e7b84be65c2bac020e3e74bc8"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a6da5953e7b84be65c2bac020e3e74bc8">pcl::FastBilateralFilterOMP::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter the input data and store the results into output.</div><div class="ttdef"><b>Definition:</b> fast_bilateral_omp.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_o_m_p_html_a8fa91f12dd5d148e4f151e2489ef8f08"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter_o_m_p.html#a8fa91f12dd5d148e4f151e2489ef8f08">pcl::FastBilateralFilterOMP::FastBilateralFilterOMP</a></div><div class="ttdeci">FastBilateralFilterOMP(unsigned int nr_threads=0)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> fast_bilateral_omp.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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